[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150001, Peoples R China
[2] Harbin Inst Technol, Sch Ocean Engn, Weihai 264209, Peoples R China
[3] Tianjin Res Inst Water Transport Engn, Natl Engn Res Ctr Port Hydraul Construct Techno, MOT, Tianjin 300456, Peoples R China
[4] Shandong Inst Shipbldg Technol, Inst Ship & Ocean Engn Hydrodynam, Weihai 264209, Peoples R China
[5] Amirkabir Univ Technol, Dept Maritime Engn, Tehran, Iran